/* Author: Binh Cao */
#ifndef DEMOSENSOR_H_
#define DEMOSENSOR_H_
#include "ompl/base/StateValidityChecker.h"
#include <fcl/collision.h>
#include <fcl/shape/geometric_shapes.h>
#include <flyingcamera/base/VehiclePath.h>
#include "Sensor.h"
#include <vector>

namespace flyingcamera
{
    namespace base
    {
    	namespace moving
    	{
        /**
           @par Short description

        */
			class DemoSensor : public Sensor
			{
				public:


				virtual void getNearObstacles(CameraStateValidityCheckerM* checker) const;

				void addMObstacle(fcl::CollisionGeometry* const obstacle,  flyingcamera::base::VehiclePath* const m_path);

				void setTime(double time);

				protected:

				std::vector<fcl::CollisionGeometry*> m_obstacles;
				std::vector<flyingcamera::base::VehiclePath*> m_obstacles_path;
				double time_;
			};
    	}
    }
}
#endif
